james kain / Mbed 2 deprecated GPS_Incremental

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Dependencies:   mbed

Fork of GPS_Incremental by Dan Matthews

mbed-rtos/rtx/HAL_CM.c@0:c746ee34feae, 2013-03-19 (annotated)

Committer:
dannyman939
Date:
Tue Mar 19 02:17:40 2013 +0000
Revision:
0:c746ee34feae
Basic functionality, Chris Version 0.0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dannyman939 0:c746ee34feae 1 /*----------------------------------------------------------------------------
dannyman939 0:c746ee34feae 2 * RL-ARM - RTX
dannyman939 0:c746ee34feae 3 *----------------------------------------------------------------------------
dannyman939 0:c746ee34feae 4 * Name: HAL_CM.C
dannyman939 0:c746ee34feae 5 * Purpose: Hardware Abstraction Layer for Cortex-M
dannyman939 0:c746ee34feae 6 * Rev.: V4.50
dannyman939 0:c746ee34feae 7 *----------------------------------------------------------------------------
dannyman939 0:c746ee34feae 8 *
dannyman939 0:c746ee34feae 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
dannyman939 0:c746ee34feae 10 * All rights reserved.
dannyman939 0:c746ee34feae 11 * Redistribution and use in source and binary forms, with or without
dannyman939 0:c746ee34feae 12 * modification, are permitted provided that the following conditions are met:
dannyman939 0:c746ee34feae 13 * - Redistributions of source code must retain the above copyright
dannyman939 0:c746ee34feae 14 * notice, this list of conditions and the following disclaimer.
dannyman939 0:c746ee34feae 15 * - Redistributions in binary form must reproduce the above copyright
dannyman939 0:c746ee34feae 16 * notice, this list of conditions and the following disclaimer in the
dannyman939 0:c746ee34feae 17 * documentation and/or other materials provided with the distribution.
dannyman939 0:c746ee34feae 18 * - Neither the name of ARM nor the names of its contributors may be used
dannyman939 0:c746ee34feae 19 * to endorse or promote products derived from this software without
dannyman939 0:c746ee34feae 20 * specific prior written permission.
dannyman939 0:c746ee34feae 21 *
dannyman939 0:c746ee34feae 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
dannyman939 0:c746ee34feae 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
dannyman939 0:c746ee34feae 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
dannyman939 0:c746ee34feae 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
dannyman939 0:c746ee34feae 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
dannyman939 0:c746ee34feae 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
dannyman939 0:c746ee34feae 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
dannyman939 0:c746ee34feae 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
dannyman939 0:c746ee34feae 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
dannyman939 0:c746ee34feae 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
dannyman939 0:c746ee34feae 32 * POSSIBILITY OF SUCH DAMAGE.
dannyman939 0:c746ee34feae 33 *---------------------------------------------------------------------------*/
dannyman939 0:c746ee34feae 34
dannyman939 0:c746ee34feae 35 #include "rt_TypeDef.h"
dannyman939 0:c746ee34feae 36 #include "RTX_Config.h"
dannyman939 0:c746ee34feae 37 #include "rt_HAL_CM.h"
dannyman939 0:c746ee34feae 38
dannyman939 0:c746ee34feae 39
dannyman939 0:c746ee34feae 40 /*----------------------------------------------------------------------------
dannyman939 0:c746ee34feae 41 * Global Variables
dannyman939 0:c746ee34feae 42 *---------------------------------------------------------------------------*/
dannyman939 0:c746ee34feae 43
dannyman939 0:c746ee34feae 44 #ifdef DBG_MSG
dannyman939 0:c746ee34feae 45 BIT dbg_msg;
dannyman939 0:c746ee34feae 46 #endif
dannyman939 0:c746ee34feae 47
dannyman939 0:c746ee34feae 48 /*----------------------------------------------------------------------------
dannyman939 0:c746ee34feae 49 * Functions
dannyman939 0:c746ee34feae 50 *---------------------------------------------------------------------------*/
dannyman939 0:c746ee34feae 51
dannyman939 0:c746ee34feae 52
dannyman939 0:c746ee34feae 53 /*--------------------------- rt_init_stack ---------------------------------*/
dannyman939 0:c746ee34feae 54
dannyman939 0:c746ee34feae 55 void rt_init_stack (P_TCB p_TCB, FUNCP task_body) {
dannyman939 0:c746ee34feae 56 /* Prepare TCB and saved context for a first time start of a task. */
dannyman939 0:c746ee34feae 57 U32 *stk,i,size;
dannyman939 0:c746ee34feae 58
dannyman939 0:c746ee34feae 59 /* Prepare a complete interrupt frame for first task start */
dannyman939 0:c746ee34feae 60 size = p_TCB->priv_stack >> 2;
dannyman939 0:c746ee34feae 61
dannyman939 0:c746ee34feae 62 /* Write to the top of stack. */
dannyman939 0:c746ee34feae 63 stk = &p_TCB->stack[size];
dannyman939 0:c746ee34feae 64
dannyman939 0:c746ee34feae 65 /* Auto correct to 8-byte ARM stack alignment. */
dannyman939 0:c746ee34feae 66 if ((U32)stk & 0x04) {
dannyman939 0:c746ee34feae 67 stk--;
dannyman939 0:c746ee34feae 68 }
dannyman939 0:c746ee34feae 69
dannyman939 0:c746ee34feae 70 stk -= 16;
dannyman939 0:c746ee34feae 71
dannyman939 0:c746ee34feae 72 /* Default xPSR and initial PC */
dannyman939 0:c746ee34feae 73 stk[15] = INITIAL_xPSR;
dannyman939 0:c746ee34feae 74 stk[14] = (U32)task_body;
dannyman939 0:c746ee34feae 75
dannyman939 0:c746ee34feae 76 /* Clear R4-R11,R0-R3,R12,LR registers. */
dannyman939 0:c746ee34feae 77 for (i = 0; i < 14; i++) {
dannyman939 0:c746ee34feae 78 stk[i] = 0;
dannyman939 0:c746ee34feae 79 }
dannyman939 0:c746ee34feae 80
dannyman939 0:c746ee34feae 81 /* Assign a void pointer to R0. */
dannyman939 0:c746ee34feae 82 stk[8] = (U32)p_TCB->msg;
dannyman939 0:c746ee34feae 83
dannyman939 0:c746ee34feae 84 /* Initial Task stack pointer. */
dannyman939 0:c746ee34feae 85 p_TCB->tsk_stack = (U32)stk;
dannyman939 0:c746ee34feae 86
dannyman939 0:c746ee34feae 87 /* Task entry point. */
dannyman939 0:c746ee34feae 88 p_TCB->ptask = task_body;
dannyman939 0:c746ee34feae 89
dannyman939 0:c746ee34feae 90 /* Set a magic word for checking of stack overflow.
dannyman939 0:c746ee34feae 91 For the main thread (ID: 0x01) the stack is in a memory area shared with the
dannyman939 0:c746ee34feae 92 heap, therefore the last word of the stack is a moving target.
dannyman939 0:c746ee34feae 93 We want to do stack/heap collision detection instead.
dannyman939 0:c746ee34feae 94 */
dannyman939 0:c746ee34feae 95 if (p_TCB->task_id != 0x01)
dannyman939 0:c746ee34feae 96 p_TCB->stack[0] = MAGIC_WORD;
dannyman939 0:c746ee34feae 97 }
dannyman939 0:c746ee34feae 98
dannyman939 0:c746ee34feae 99
dannyman939 0:c746ee34feae 100 /*--------------------------- rt_ret_val ----------------------------------*/
dannyman939 0:c746ee34feae 101
dannyman939 0:c746ee34feae 102 static __inline U32 *rt_ret_regs (P_TCB p_TCB) {
dannyman939 0:c746ee34feae 103 /* Get pointer to task return value registers (R0..R3) in Stack */
dannyman939 0:c746ee34feae 104 #if (__TARGET_FPU_VFP)
dannyman939 0:c746ee34feae 105 if (p_TCB->stack_frame) {
dannyman939 0:c746ee34feae 106 /* Extended Stack Frame: R4-R11,S16-S31,R0-R3,R12,LR,PC,xPSR,S0-S15,FPSCR */
dannyman939 0:c746ee34feae 107 return (U32 *)(p_TCB->tsk_stack + 8*4 + 16*4);
dannyman939 0:c746ee34feae 108 } else {
dannyman939 0:c746ee34feae 109 /* Basic Stack Frame: R4-R11,R0-R3,R12,LR,PC,xPSR */
dannyman939 0:c746ee34feae 110 return (U32 *)(p_TCB->tsk_stack + 8*4);
dannyman939 0:c746ee34feae 111 }
dannyman939 0:c746ee34feae 112 #else
dannyman939 0:c746ee34feae 113 /* Stack Frame: R4-R11,R0-R3,R12,LR,PC,xPSR */
dannyman939 0:c746ee34feae 114 return (U32 *)(p_TCB->tsk_stack + 8*4);
dannyman939 0:c746ee34feae 115 #endif
dannyman939 0:c746ee34feae 116 }
dannyman939 0:c746ee34feae 117
dannyman939 0:c746ee34feae 118 void rt_ret_val (P_TCB p_TCB, U32 v0) {
dannyman939 0:c746ee34feae 119 U32 *ret;
dannyman939 0:c746ee34feae 120
dannyman939 0:c746ee34feae 121 ret = rt_ret_regs(p_TCB);
dannyman939 0:c746ee34feae 122 ret[0] = v0;
dannyman939 0:c746ee34feae 123 }
dannyman939 0:c746ee34feae 124
dannyman939 0:c746ee34feae 125 void rt_ret_val2(P_TCB p_TCB, U32 v0, U32 v1) {
dannyman939 0:c746ee34feae 126 U32 *ret;
dannyman939 0:c746ee34feae 127
dannyman939 0:c746ee34feae 128 ret = rt_ret_regs(p_TCB);
dannyman939 0:c746ee34feae 129 ret[0] = v0;
dannyman939 0:c746ee34feae 130 ret[1] = v1;
dannyman939 0:c746ee34feae 131 }
dannyman939 0:c746ee34feae 132
dannyman939 0:c746ee34feae 133
dannyman939 0:c746ee34feae 134 /*--------------------------- dbg_init --------------------------------------*/
dannyman939 0:c746ee34feae 135
dannyman939 0:c746ee34feae 136 #ifdef DBG_MSG
dannyman939 0:c746ee34feae 137 void dbg_init (void) {
dannyman939 0:c746ee34feae 138 if ((DEMCR & DEMCR_TRCENA) &&
dannyman939 0:c746ee34feae 139 (ITM_CONTROL & ITM_ITMENA) &&
dannyman939 0:c746ee34feae 140 (ITM_ENABLE & (1UL << 31))) {
dannyman939 0:c746ee34feae 141 dbg_msg = __TRUE;
dannyman939 0:c746ee34feae 142 }
dannyman939 0:c746ee34feae 143 }
dannyman939 0:c746ee34feae 144 #endif
dannyman939 0:c746ee34feae 145
dannyman939 0:c746ee34feae 146 /*--------------------------- dbg_task_notify -------------------------------*/
dannyman939 0:c746ee34feae 147
dannyman939 0:c746ee34feae 148 #ifdef DBG_MSG
dannyman939 0:c746ee34feae 149 void dbg_task_notify (P_TCB p_tcb, BOOL create) {
dannyman939 0:c746ee34feae 150 while (ITM_PORT31_U32 == 0);
dannyman939 0:c746ee34feae 151 ITM_PORT31_U32 = (U32)p_tcb->ptask;
dannyman939 0:c746ee34feae 152 while (ITM_PORT31_U32 == 0);
dannyman939 0:c746ee34feae 153 ITM_PORT31_U16 = (create << 8) | p_tcb->task_id;
dannyman939 0:c746ee34feae 154 }
dannyman939 0:c746ee34feae 155 #endif
dannyman939 0:c746ee34feae 156
dannyman939 0:c746ee34feae 157 /*--------------------------- dbg_task_switch -------------------------------*/
dannyman939 0:c746ee34feae 158
dannyman939 0:c746ee34feae 159 #ifdef DBG_MSG
dannyman939 0:c746ee34feae 160 void dbg_task_switch (U32 task_id) {
dannyman939 0:c746ee34feae 161 while (ITM_PORT31_U32 == 0);
dannyman939 0:c746ee34feae 162 ITM_PORT31_U8 = task_id;
dannyman939 0:c746ee34feae 163 }
dannyman939 0:c746ee34feae 164 #endif
dannyman939 0:c746ee34feae 165
dannyman939 0:c746ee34feae 166
dannyman939 0:c746ee34feae 167 /*----------------------------------------------------------------------------
dannyman939 0:c746ee34feae 168 * end of file
dannyman939 0:c746ee34feae 169 *---------------------------------------------------------------------------*/
dannyman939 0:c746ee34feae 170